EP1975426B1 - Joint rotatif - Google Patents

Joint rotatif Download PDF

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Publication number
EP1975426B1
EP1975426B1 EP08012885.3A EP08012885A EP1975426B1 EP 1975426 B1 EP1975426 B1 EP 1975426B1 EP 08012885 A EP08012885 A EP 08012885A EP 1975426 B1 EP1975426 B1 EP 1975426B1
Authority
EP
European Patent Office
Prior art keywords
running track
revolving joint
joint according
rolling bodies
torque motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP08012885.3A
Other languages
German (de)
English (en)
Other versions
EP1975426A2 (fr
EP1975426A3 (fr
Inventor
Frank Neubert
Franz-Josef Ebert
Jürgen KLUTSCH
Gerold Sturm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Publication of EP1975426A2 publication Critical patent/EP1975426A2/fr
Publication of EP1975426A3 publication Critical patent/EP1975426A3/fr
Application granted granted Critical
Publication of EP1975426B1 publication Critical patent/EP1975426B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
    • F16C19/163—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls with angular contact
    • F16C19/166—Four-point-contact ball bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
    • F16C19/527—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions related to vibration and noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C27/00—Elastic or yielding bearings or bearing supports, for exclusively rotary movement
    • F16C27/06—Elastic or yielding bearings or bearing supports, for exclusively rotary movement by means of parts of rubber or like materials
    • F16C27/066—Ball or roller bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
    • F16C2240/40—Linear dimensions, e.g. length, radius, thickness, gap
    • F16C2240/54—Surface roughness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
    • F16C2240/40—Linear dimensions, e.g. length, radius, thickness, gap
    • F16C2240/70—Diameters; Radii
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
    • F16C2240/40—Linear dimensions, e.g. length, radius, thickness, gap
    • F16C2240/70—Diameters; Radii
    • F16C2240/80—Pitch circle diameters [PCD]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2300/00—Application independent of particular apparatuses
    • F16C2300/10—Application independent of particular apparatuses related to size
    • F16C2300/14—Large applications, e.g. bearings having an inner diameter exceeding 500 mm
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2316/00—Apparatus in health or amusement
    • F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances

Definitions

  • Rotary connection with at least one rolling bearing and with an electromotive drive unit wherein the rolling bearing is provided with at least one arranged around the axis of rotation of the rolling bearing rolling elements in contact with at least one drivable by the drive unit raceway.
  • a rotary joint is in DE 10210071 A1 described.
  • Integrated and low-noise rotary joint systems can be used in a variety of applications and are generally used for drive, connection and support and for position detection of the rotating masses and their connection to static components.
  • roller bearing slewing rings are used in computer tomographs. Furthermore, you will find the rolling bearing slewing in similar radiographic equipment for the examination of luggage in the security area z. At airports. With the steady increase in the speeds of these applications with simultaneous demand for reduced noise, low starting torque, small installation space, low weight and high running accuracy known roller bearing slewing compounds are unsuitable and no longer meet the requirements of this application.
  • the object is to provide a rotary joint, which meets the aforementioned requirements.
  • a measurable running noise on the electric motor driven rotary joint which measured as airborne sound, sum sound pressure level with values of at most 70 dB (A), preferably 67 dB (A).
  • the noise measurement is made in 1m horizontal distance from the bearing plane on the theoretically continued line of the rotation axis.
  • the rolling bearing has at least an inner raceway and an outer raceway. Also conceivable are several of the raceways in the rolling bearing.
  • the rolling elements are in contact, during operation of the rolling bearing in the rolling contact, with at least one inner race and an outer race, alternatively with axially aligned raceways.
  • a trained according to invention silent connection system of rolling bearing and drive unit is compact and takes up little space. It safely absorbs high radial, axial and moment loads.
  • the direct drive is preferably an integral part of the rotary connection system and therefore requires no additional space.
  • the rotating rotary connection system causes in all speed ranges but especially at speeds from 100 rev / min (1 / min), preferably from 160 rev / min by integrating a particularly quiet executed rolling bearing, optionally combined with the structure-borne noise, a particularly low noise level.
  • the rotary joint is inexpensive to manufacture due to the small number of components used and its compactness.
  • the direct drive ensures that the drive forces of the direct drive without the interposition of other drive components (such as belts or gears, etc.), brake generator deflecting and tensioning rollers are transmitted to the rolling bearing slewing ring.
  • the electromotive drive unit which is preferably integrated as a direct drive into the rotary connection, is designed as a torque motor in ring or segmental design, wherein a static component of the rotary connection is connected to at least one stator consisting of iron cores and electrical windings.
  • a static component of the rotary connection is connected to at least one stator consisting of iron cores and electrical windings.
  • One of the rotating components of the rotary joint is equipped with permanent magnets.
  • a torque motor In contrast to the ring motor, a torque motor must be operated in a segmented manner in order to synchronize the magnetic forces of each individual segment, thus achieving the best possible efficiency and the lowest noise level.
  • the required input signal of the frequency converter for controlling the segments is provided according to an embodiment of the invention by the integrated sensors for position detection. If very high torques are required (eg with a short start-up phase of the rotating components), efficient operation of the ring motor is also possible due to the controlled operation. Due to the controlled operation of the drive unit high torques at the same time lower power level of the frequency converter can be realized.
  • the sensor system has at least one sensor and a signal generator.
  • the sensor is used to detect signals from the signal generator (coding) or several of the aforementioned components of any design.
  • the coding is formed by an e-lastomergürtel, with alternating polarized magnetized particles (alternately north and south pole) is offset.
  • the sensor system can also have other electronic components, for example converters.
  • the rolling bearings are single-row or multi-row.
  • the rolling elements are balls or rollers that can be held in cages.
  • the material of the rolling elements and the raceways is preferably steel or any other conceivable materials, such as the materials with a density that is less than 5 grams per cubic millimeter. Such materials are, for example, ceramic materials.
  • the ratio of diameter pitch circle to the diameter of each of the rolling elements of a row is greater than 30: 1, preferably 40: 1, the pitch circle being the imaginary circle concentric with the axis of rotation and irrelevant possible changes in position of the rolling elements due to games in the rolling bearing which is parallel to the axis of rotation aligned center axes of the rolling elements
  • the center axes are in roles the axes of rotation and symmetry and imaginary spheres, through the spherical center and parallel to the axis of rotation of the rotary joint extending axes.
  • the thin-ring four-point ball bearing is the simplest and most robust bearing design. It is designed so that mean axial, radial and moment loads can be safely absorbed.
  • the thin ring bearing with its low intrinsic and dimensional stability is supported by the installation in the surrounding parts.
  • wire web bearings angular contact ball bearings and roller bearings are used.
  • a conversion part is for example a housing, in which the rolling bearing, or at least one of the bearing rings or at least one of the raceways is integrated and / or a rotor or a shaft on the / the rolling bearing, or at least one of the bearing rings or at least one of the raceways is arranged.
  • FIG. 1 shows a rotary joint 1 with at least one rolling bearing 2 and with an electric motor drive unit 3 in a partial section along the axis of rotation 2a and not shown to scale.
  • the rolling bearing 2 has a row of rolling elements 4 arranged around the axis of rotation 2 a of the rolling bearing 2.
  • the rolling elements 4 are in contact with a drivable by the drive unit raceway 5 on an inner ring 6 and in contact with a raceway 7 on an outer ring 8.
  • the outer ring 8 is fixed in a rotationally fixed part in the form of a housing 9.
  • a structure-borne sound insulation 10 in the form of a vulcanized on the outer ring 8 insulating layer 11 made of an elastomer.
  • the insulating layer 11 is alternatively an insert.
  • a rotary motor of the drive unit 3 has permanent magnets 12 which sit directly on a rotor 13 of the rotary joint 1.
  • the rotor 13 of the rotary motor is rotatably coupled to the driven track 5 and separated by an orbiting around the axis of rotation 2a air gap 14 of non-illustrated electrical windings of a stator 15 of the rotary motor.
  • the ratio of diameter D pitch circle to the diameter K of each of the rolling elements 4 of the series is greater than 30: 1, wherein the pitch circle is the imaginary circle, which is arranged concentrically to the axis of rotation 2a and the aligned parallel to the axis of rotation 2a and in perpendicular in the presentation plane abutting center axes 16 of the rolling elements 4 cuts.
  • the rolling elements 4 and bearing rings 6 and 8 are optionally made of steel or ceramic, with combinations of rolling elements or components of the rolling bearing made of steel with components or rolling elements made of ceramic are conceivable.
  • a sensor 18 of a sensor 17 and a coding 20 with the at least relative positions in the circumferential direction between the rotor 13 to the stator 15 can be detected.
  • the sensor 17 is fixed to the stator 15, the coding 20 on the rotor 13.
  • From the sensor goes from a connecting cable 21, which can also be optionally connected to the control unit 22 indicated by dashed lines.
  • a connecting cable 19 leads to the drive unit 3, so that the control unit 22 can convert output signals of the sensor 18 into input signals for controlling the rotary motor.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)
  • Motor Or Generator Frames (AREA)
  • Support Of The Bearing (AREA)
  • Vibration Prevention Devices (AREA)

Claims (15)

  1. Joint rotatif (1) comprenant au moins un palier à roulement (2) et une unité d'entraînement à moteur électrique (3), le palier à roulement (2) présentant au moins une rangée de corps de roulement (4) disposés autour de l'axe de rotation (2a), et les corps de roulement (4) étant en contact avec au moins un chemin de roulement (5) pouvant être entraîné par l'unité d'entraînement (3), avec des aimants permanents (12) d'un moteur rotatif de l'unité d'entraînement (3) qui sont accouplés de manière solidaire en rotation au chemin de roulement entraîné (5) pour former un rotor (13) du moteur rotatif et qui sont en regard d'un stator (15) du moteur rotatif au niveau d'un entrefer (14) entourant l'axe de rotation (2a), au moins le stator (15) et les aimants permanents (12) étant séparés les uns des autres par l'entrefer (14), caractérisé par des rugosités de surface de la surface du premier chemin de roulement (5) entraîné par l'unité d'entraînement (3) et par des rugosités de surface de la surface d'au moins un deuxième chemin de roulement (7) avec des valeurs Ra < 0,25, la rangée de corps de roulement (4) étant en contact avec le deuxième chemin de roulement (7), et en ce que le rapport du diamètre du cercle partiel au diamètre de chaque corps de roulement individuel d'une rangée est supérieur à 30:1, le cercle partiel étant le cercle imaginaire qui est disposé concentriquement à l'axe de rotation (2a) et qui coupe les axes médians (16) des corps de roulement (4) orientés parallèlement à l'axe de rotation (2a).
  2. Joint rotatif selon la revendication 1, caractérisé par un rotor (13) du moteur rotatif au niveau duquel est fixée une bague de palier (6) avec le chemin de roulement (5) et au niveau duquel sont fixés les aimants permanents (12).
  3. Joint rotatif selon la revendication 1 ou 2, caractérisé par des écarts maximaux de 0,5 mm par rapport à la mesure nominale des dimensions radiales de l'entrefer (14) dans tous les états de fonctionnement du joint rotatif (1).
  4. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé par les valeurs d'au moins 80 tr/min pour des vitesses de rotation du chemin de roulement (5) entraîné par moteur électrique par l'unité d'entraînement (3) et tournant autour de l'axe de rotation (2a).
  5. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé par les caractéristiques suivantes :
    - au moins la surface du chemin de roulement (5) est décrite par un nombre quelconque de génératrices adjacentes parallèlement les unes aux autres ayant chacune des allures de forme ondulée dans la direction périphérique et par conséquent s'écartant de l'allure idéale imaginaire complètement linéaire circulaire autour de l'axe de rotation (2a),
    - les allures sont à chaque fois décrites par des ondes se suivant en alternance dans la direction périphérique et coupant à nouveau en l'occurrence l'allure idéale respective,
    - la valeur maximale de toutes les amplitudes d'ondulations entre le sommet d'une ondulation et le creux d'une ondulation d'un nombre quelconque de périodes d'une plage de mesure au niveau de chacune des génératrices correspond au maximum à un quotient de la constante 0,33 en mm/min et de la vitesse de rotation du chemin de roulement entraîné en t/min et
    - la plage de mesure est établie par la mesure nominale de la longueur d'arc le long du chemin de roulement entre les contacts respectifs avec le chemin de roulement (5) de deux corps de roulement successifs d'une rangée dans la direction périphérique.
  6. Joint rotatif selon la revendication 5, caractérisé par des génératrices avec les allures de forme ondulée d'au moins un deuxième chemin de roulement (7), le deuxième chemin de roulement (7) étant en contact avec les corps de roulement (4) de la rangée de corps de roulement (4).
  7. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé par une isolation des bruits structurels (10) au moins entre un chemin de roulement (5) et l'environnement du chemin de roulement (5) et/ou au niveau d'interfaces entre des composants du joint rotatif et/ou au niveau d'interfaces entre le joint rotatif et l'environnement du joint rotatif.
  8. Joint rotatif selon la revendication 7, caractérisé par une couche d'isolation (11) en tant qu'isolation vis-à-vis des bruits structurels (10), la couche d'isolation (11) étant constituée d'au moins un matériau dont le module d'élasticité et/ou la densité est inférieur(e) au module d'élasticité et/ou à la densité du matériau des composants dans lequel est réalisé le chemin de roulement.
  9. Joint rotatif selon la revendication 7 ou 8, caractérisé par un rapport d'impédance (p) qui présente au moins la valeur 3, le rapport d'impédance (p) étant un quotient d'une racine carrée d'un produit du module d'élasticité (E1) et de la densité (ρ1) du matériau du chemin de roulement et de la racine carrée d'un produit du module d'élasticité (E2) et de la densité (ρ2) du matériau de la couche d'isolation, c'est-à-dire p = E 1 × ρ 1 E 2 × ρ 2 .
    Figure imgb0004
  10. Joint rotatif selon au moins l'une quelconque des revendications 7 à 9, caractérisé par une couche d'isolation (11) constituée d'au moins un matériau élastomère.
  11. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé par une bague de palier (8) au niveau de laquelle est réalisé le chemin de roulement (5).
  12. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins certains des corps de roulement (4) de la rangée sont en un matériau ayant une densité p < 5 g/cm3.
  13. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins certains des corps de roulement (4) de la rangée sont constitués d'un matériau isolant vis-à-vis du courant électrique, la résistance électrique spécifique du matériau étant supérieure à 1010 Ohm·mm2/m.
  14. Joint rotatif selon au moins l'une quelconque des revendications précédentes, caractérisé par un système de capteur (18) dans le joint rotatif (1), avec lequel au moins des positions relatives dans la direction périphérique entre un rotor (13) d'un moteur rotatif de l'unité d'entraînement (3) et le stator (15) du moteur rotatif peuvent être détectées, le rotor (13) étant accouplé de manière solidaire en rotation au chemin de roulement (5).
  15. Joint rotatif selon la revendication 14, caractérisé par une unité de régulation (22) accouplée au moteur rotatif et au système de capteur (18) pour convertir des signaux de sortie du système de capteur (18) en signaux d'entrée pour la régulation du moteur rotatif.
EP08012885.3A 2004-11-12 2005-11-04 Joint rotatif Expired - Lifetime EP1975426B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US62754104P 2004-11-12 2004-11-12
EP05810678A EP1809917A1 (fr) 2004-11-12 2005-11-04 Joint tournant

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP05810678A Division EP1809917A1 (fr) 2004-11-12 2005-11-04 Joint tournant
EP05810678.2 Division 2005-11-04

Publications (3)

Publication Number Publication Date
EP1975426A2 EP1975426A2 (fr) 2008-10-01
EP1975426A3 EP1975426A3 (fr) 2012-02-29
EP1975426B1 true EP1975426B1 (fr) 2017-09-06

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Application Number Title Priority Date Filing Date
EP08012885.3A Expired - Lifetime EP1975426B1 (fr) 2004-11-12 2005-11-04 Joint rotatif
EP08012884.6A Expired - Lifetime EP1975425B1 (fr) 2004-11-12 2005-11-04 Joint rotatif
EP05810678A Withdrawn EP1809917A1 (fr) 2004-11-12 2005-11-04 Joint tournant

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EP08012884.6A Expired - Lifetime EP1975425B1 (fr) 2004-11-12 2005-11-04 Joint rotatif
EP05810678A Withdrawn EP1809917A1 (fr) 2004-11-12 2005-11-04 Joint tournant

Country Status (6)

Country Link
US (1) US8197145B2 (fr)
EP (3) EP1975426B1 (fr)
JP (1) JP4947557B2 (fr)
CN (3) CN101865209B (fr)
RU (1) RU2007115806A (fr)
WO (1) WO2006050700A1 (fr)

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Also Published As

Publication number Publication date
EP1809917A1 (fr) 2007-07-25
EP1975425A3 (fr) 2012-02-29
WO2006050700A1 (fr) 2006-05-18
JP4947557B2 (ja) 2012-06-06
US20090154865A1 (en) 2009-06-18
EP1975426A2 (fr) 2008-10-01
JP2008519955A (ja) 2008-06-12
CN101065588A (zh) 2007-10-31
CN101865207A (zh) 2010-10-20
CN101865209A (zh) 2010-10-20
US8197145B2 (en) 2012-06-12
EP1975426A3 (fr) 2012-02-29
EP1975425A2 (fr) 2008-10-01
EP1975425B1 (fr) 2017-09-06
CN101865209B (zh) 2012-07-18
CN101865207B (zh) 2011-09-14
RU2007115806A (ru) 2008-10-27
CN101065588B (zh) 2010-09-01

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